Gabriele Cosmo
106 lines
2.7 KiB
C++
106 lines
2.7 KiB
C++
// ----------------------------------------------------------------------
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//
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// AxisAngle.cc
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//
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// History:
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// 23-Jan-1998 WEB Initial draft
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// 13-Mar-1998 WEB Corrected ZMpvAxisAngleRep
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// 15-Jun-1998 WEB Added namespace support
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// 26-Jul-2000 MF CLHEP version
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// 12-Apr-2001 MF NaN-proofing
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//
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// ----------------------------------------------------------------------
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#include "CLHEP/Vector/AxisAngle.h"
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namespace CLHEP {
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double HepAxisAngle::tolerance = Hep3Vector::ToleranceTicks * 1.0e-08;
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static void ZMpvAxisAngleRep( const HepAxisAngle & aa, double array[] ) {
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register double sinDelta = std::sin( aa.delta() );
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register double cosDelta = std::cos( aa.delta() );
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register double oneMinusCosDelta = 1.0 - cosDelta;
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register double uX = aa.getAxis().getX();
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register double uY = aa.getAxis().getY();
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register double uZ = aa.getAxis().getZ();
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array[0] = oneMinusCosDelta * uX * uX + cosDelta;
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array[1] = oneMinusCosDelta * uX * uY - sinDelta * uZ;
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array[2] = oneMinusCosDelta * uX * uZ + sinDelta * uY;
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array[3] = oneMinusCosDelta * uY * uX + sinDelta * uZ;
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array[4] = oneMinusCosDelta * uY * uY + cosDelta;
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array[5] = oneMinusCosDelta * uY * uZ - sinDelta * uX;
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array[6] = oneMinusCosDelta * uZ * uX - sinDelta * uY;
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array[7] = oneMinusCosDelta * uZ * uY + sinDelta * uX;
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array[8] = oneMinusCosDelta * uZ * uZ + cosDelta;
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} // ZMpvAxisAngleRep
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double HepAxisAngle::distance( const AA & aa ) const {
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double thisRep[9];
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double aaRep[9];
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ZMpvAxisAngleRep( *this, thisRep );
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ZMpvAxisAngleRep( aa, aaRep );
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double sum = 0.0;
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for ( int i = 0; i < 9; i++ ) {
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sum += thisRep[i] * aaRep[i];
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}
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double d = 3.0 - sum; // NaN-proofing:
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return (d >= 0) ? d : 0; // std::sqrt(distance) is used in howNear()
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} // HepAxisAngle::distance()
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bool HepAxisAngle::isNear( const AA & aa, Scalar epsilon ) const {
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return distance( aa ) <= epsilon * epsilon;
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} // HepAxisAngle::isNear()
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double HepAxisAngle::howNear( const AA & aa ) const {
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return std::sqrt( distance( aa ) );
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} // HepAxisAngle::howNear()
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//-********************
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//
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// Global methods
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//
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//-********************
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std::ostream & operator<<(std::ostream & os, const HepAxisAngle & aa) {
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os << '(' << aa.axis() << ", " << aa.delta() << ')';
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return os;
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} // operator<<()
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void ZMinputAxisAngle ( std::istream & is,
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double & x, double & y, double & z,
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double & delta );
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std::istream & operator>>(std::istream & is, HepAxisAngle & aa) {
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Hep3Vector axis;
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double delta;
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double x,y,z;
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ZMinputAxisAngle ( is, x, y, z, delta );
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axis.set(x,y,z);
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aa.set ( axis, delta );
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return is;
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} // operator>>()
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} // namespace CLHEP
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